Copter 4.1.4 in GUIDED mode with mavros

Hi, I wold like to send commands to my copter through mavros /setpoint_velovity/cmd_vel (like I was in the past). Today I arm the copter, take off, switch to althold, then to GUIDED and publish cmd_vel messages but the copter didn’t respond.
Do I need to take care of something else in order to switch to GUIDED and command de copter with mavros?
unfortunately the flight log is corrupted, I reformat the sd card.
BTW, what controllers are working in GUIDED mode?


I have a log file now from a flight test:

I engage two time the GUIDE flight mode with my RC “mode switch”. In mavros I was publishing vx = 0.2 and vz = 0.2 on the first mode switch and vx=0.7 vz = 0.0 on the second one.

I’ve notice a response to the first GUIDED command, the copter was moving to the right and climb. I thing that 0.2 m/seg is too litle to get a good low level control.
But I’ve not notice any movement to the second GUIDED command.

I would like to check data on the log file, but I can’t find copter velocity.
Can someone help me with this?

BTW I think that the answer for guided was here
Another thing is the parameter SYSID_MYGCS, do I need to match this parameter with mavros system_id?

Guided mode works great with mavros.
Read the docs again, you are missing something.

BTW ArduCopter 4.1.5 was improved guided, and on 4.2.0-rc1 is even better.

I’ve read the doc a lot of times. There is not much explanation there.
It was working in the last flight test (see dataflash log attached)
Where, in the log file, I can find the velocity of the vehicle?

BTW, I don’t see any improvement regarding GUIDE mode on 4.1.5:
"Copter 4.1.5 19-Feb-2022 / 4.1.5-rc1 10-Feb-2022
Changes from 4.1.4

  1. Bug fixes
    a) attitude control I-term always reset when landed (previously only reset after spool down)
    b) revert SBUS RC frame gap change from 4.1.4"

And 4.2 is still in beta release so I prefer to wait.


I meant: ArduCopter 4.1.x guided mode has been improved relative to ArduCopter 4.0.x

The velocity is in multiple places AHRS, PIDx , etc

4.2 is no longer in beta, it is in “release candidate”